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Linear Control Techniques Applied to the Omnicopter MAV in Fixed Vertical Ducted Fan Angle Configuration

[+] Author Affiliations
Yangbo Long, Sean Lyttle, David J. Cappelleri

Stevens Institute of Technology, Hoboken, NJ

Paper No. DETC2012-70486, pp. 799-806; 8 pages
doi:10.1115/DETC2012-70486
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

In this paper, linear control techniques are applied to a novel Omnicopter MAV design. This design is unique in its ability to withstand external disturbance and translate horizontally with more stable attitude. A dynamic model of the Omnicopter MAV has been developed using the Newton-Euler formalism. Based on a linearized version of the model with a fixed vertical ducted fan angle configuration, three different control schemes, namely PD control, Lyapunov-based control and optimal LQ control have been designed and proposed. Comparisons and relations between the three control schemes are discussed and simulations are presented. Finally, details on the Omnicopter prototype and initial test flights are presented. Controlled flights with vertical take-offs and landings have been achieved utilizing the PD control scheme.

Copyright © 2012 by ASME

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